urtware / inc / urt_node.h @ 6882b76c
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| 1 | 1fb06240 | skenneweg | /*
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| 2 | µRtWare is a lightweight publish/subscribe middleware for real-time
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| 3 | applications. It was developed as part of the software habitat for the
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| 4 | Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
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| 5 | |||
| 6 | Copyright (C) 2018..2020 Thomas Schöpping et al.
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| 7 | |||
| 8 | This program is free software: you can redistribute it and/or modify
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| 9 | it under the terms of the GNU General Public License as published by
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| 10 | the Free Software Foundation, either version 3 of the License, or
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| 11 | (at your option) any later version.
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| 12 | |||
| 13 | This program is distributed in the hope that it will be useful,
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| 14 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 15 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 16 | GNU General Public License for more details.
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| 17 | |||
| 18 | You should have received a copy of the GNU General Public License
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| 19 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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| 20 | */
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| 21 | |||
| 22 | #ifndef URTWARE_NODE_H
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| 23 | #define URTWARE_NODE_H
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| 24 | |||
| 25 | 7d9678db | skenneweg | #include <urtware.h> |
| 26 | |||
| 27 | 1fb06240 | skenneweg | /******************************************************************************/
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| 28 | /* CONSTANTS */
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| 29 | /******************************************************************************/
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| 30 | |||
| 31 | /******************************************************************************/
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| 32 | /* SETTINGS */
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| 33 | /******************************************************************************/
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| 34 | |||
| 35 | /******************************************************************************/
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| 36 | /* CHECKS */
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| 37 | /******************************************************************************/
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| 38 | |||
| 39 | /******************************************************************************/
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| 40 | /* DATA STRUCTURES AND TYPES */
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| 41 | /******************************************************************************/
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| 42 | |||
| 43 | 4ea18a07 | Svenja | /*
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| 44 | * forward declarations
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| 45 | */
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| 46 | typedef struct urt_node urt_node_t; |
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| 47 | |||
| 48 | 7d9678db | skenneweg | /**
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| 49 | 017b2ac7 | skenneweg | * @brief
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| 50 | *
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| 51 | * @param[in] node .
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| 52 | * @param[in] cause .
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| 53 | * @param[in] arg .
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| 54 | *
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| 55 | * @return .
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| 56 | *
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| 57 | */
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| 58 | 4ea18a07 | Svenja | typedef void (*urt_nodeShutdownCallback_t)(urt_node_t* node, urt_status_t cause, void* arg); |
| 59 | 017b2ac7 | skenneweg | |
| 60 | |||
| 61 | /**
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| 62 | * @brief
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| 63 | *
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| 64 | * @param[in] node .
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| 65 | * @param[in] arg .
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| 66 | *
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| 67 | * @return .
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| 68 | *
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| 69 | */
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| 70 | 4ea18a07 | Svenja | typedef urt_osEventMask_t (*urt_nodeSetupCallback_t)(urt_node_t* node, void* arg); |
| 71 | 017b2ac7 | skenneweg | |
| 72 | |||
| 73 | /**
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| 74 | * @brief
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| 75 | *
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| 76 | * @param[in] node .
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| 77 | * @param[in] events .
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| 78 | * @param[in] arg .
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| 79 | *
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| 80 | * @return .
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| 81 | */
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| 82 | 4ea18a07 | Svenja | typedef urt_osEventMask_t (*urt_nodeLoopCallback_t)(urt_node_t* node, urt_osEventMask_t events, void* arg); |
| 83 | 64fde4ba | skenneweg | |
| 84 | /**
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| 85 | * @brief node
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| 86 | */
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| 87 | 4ea18a07 | Svenja | struct urt_node
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| 88 | 64fde4ba | skenneweg | {
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| 89 | struct urt_node* next;
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| 90 | urt_osThread_t* thread; |
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| 91 | 1bfc6b25 | skenneweg | urt_nodeSetupCallback_t setupcallback; |
| 92 | 64fde4ba | skenneweg | void* setupparams;
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| 93 | 1bfc6b25 | skenneweg | urt_nodeLoopCallback_t loopcallback; |
| 94 | 64fde4ba | skenneweg | void* loopparams;
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| 95 | 1bfc6b25 | skenneweg | urt_nodeShutdownCallback_t shutdowncallback; |
| 96 | 64fde4ba | skenneweg | void* shutdownparams;
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| 97 | urt_nodestage_t stage; |
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| 98 | urt_osEventListener_t listener; |
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| 99 | #if (URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING)
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| 100 | uint64_t loops; |
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| 101 | #endif /* URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING */ |
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| 102 | 4ea18a07 | Svenja | }; |
| 103 | 64fde4ba | skenneweg | |
| 104 | 017b2ac7 | skenneweg | |
| 105 | 1fb06240 | skenneweg | /******************************************************************************/
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| 106 | /* MACROS */
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| 107 | /******************************************************************************/
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| 108 | |||
| 109 | /******************************************************************************/
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| 110 | /* EXTERN DECLARATIONS */
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| 111 | /******************************************************************************/
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| 112 | |||
| 113 | 7d9678db | skenneweg | #if defined(__cplusplus)
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| 114 | extern "C" { |
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| 115 | #endif /* defined(__cplusplus) */ |
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| 116 | |||
| 117 | 4ea18a07 | Svenja | void urtNodeInit(urt_node_t* node, urt_osThread_t* thread, urt_osThreadPrio_t prio, urt_nodeSetupCallback_t setupcallback,
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| 118 | void* setupparams, urt_nodeLoopCallback_t loopcallback, void* loopparams, |
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| 119 | urt_nodeShutdownCallback_t shutdowncallback, void* shutdownparams);
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| 120 | 7d9678db | skenneweg | #if defined(__cplusplus)
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| 121 | } |
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| 122 | #endif /* defined(__cplusplus) */ |
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| 123 | |||
| 124 | 1fb06240 | skenneweg | /******************************************************************************/
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| 125 | /* INLINE FUNCTIONS */
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| 126 | /******************************************************************************/
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| 127 | |||
| 128 | #endif /* URTWARE_NODE_H */ |